Travel control system, travel control device, travel control method, and storage medium

A travel control device controlling travel of a host moving body, the travel control device comprising a processor configured to:

• detect a move-related behavior indicating a move of a target moving body to a space connected to a travel path of the host moving body, the target moving body traveling from a far side toward a near side in a travel direction of the host moving body;
• and
• perform, when detecting the move-related behavior, an admission control to admit the move of the target moving body to the space,
• wherein
• the admission control includes stopping the host moving body, which is in a traveling state, with an admission distance being reserved for admitting the move of the target moving body to the space,
• the move-related behavior includes a high confidence behavior and a low confidence behavior,
• the high confidence behavior has a higher probability of performing the move to the space than that of the low confidence behavior, and
• the admission control includes:
• slowing the host moving body within an admission speed range when the low confidence behavior is detected;
• and
• stopping the host moving body, which is in the traveling state, with the admission distance being reserved when the high confidence behavior is detected.

A travel control method performed by a processor for controlling travel of a host moving body, the travel control method comprising:

• detecting a move-related behavior indicating a move of a target moving body to a space connected to a travel path of the host moving body, the target moving body traveling from a far side toward a near side in a travel direction of the host moving body;
• and
• performing, when detecting the move-related behavior, an admission control to admit the move of the target moving body to the space,
• wherein
• the admission control includes stopping the host moving body, which is in a traveling state, with an admission distance being reserved for admitting the move of the target moving body to the space,
• the move-related behavior includes a high confidence behavior and a low confidence behavior,
• the high confidence behavior has a higher probability of performing the move to the space than that of the low confidence behavior, and
• the admission control includes:
• slowing the host moving body within an admission speed range when the low confidence behavior is detected;
• and
• stopping the host moving body, which is in the traveling state, with the admission distance being reserved when the high confidence behavior is detected.

A non-transitory, tangible storage medium storing a travel control program including instructions to be executed by a processor for causing a computer to control travel of a host moving body,

• the instructions comprising:
• causing detection of a move-related behavior indicating a move of a target moving body to a space connected to a travel path of the host moving body, the target moving body traveling from a far side toward a near side in a travel direction of the host moving body;
• and
• causing, when detecting the move-related behavior, execution of an admission control to admit the move of the target moving body to the space,
• wherein
• the admission control includes stopping the host moving body, which is in a traveling state, with an admission distance being reserved for admitting move of the target moving body to the space,
• the move-related behavior includes a high confidence behavior and a low confidence behavior,
• the high confidence behavior has a higher probability of performing the move to the space than that of the low confidence behavior, and
• the admission control includes:
• slowing the host moving body within an admission speed range when the low confidence behavior is detected;
• and
• stopping the host moving body, which is in the traveling state, with the admission distance being reserved when the high confidence behavior is detected.